DE102006048910A1 - Fail-safe parking assistance system - Google Patents

Fail-safe parking assistance system Download PDF

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Publication number
DE102006048910A1
DE102006048910A1 DE102006048910A DE102006048910A DE102006048910A1 DE 102006048910 A1 DE102006048910 A1 DE 102006048910A1 DE 102006048910 A DE102006048910 A DE 102006048910A DE 102006048910 A DE102006048910 A DE 102006048910A DE 102006048910 A1 DE102006048910 A1 DE 102006048910A1
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Germany
Prior art keywords
vehicle
parking
brake
control unit
brake system
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DE102006048910A
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German (de)
Inventor
Heiner Messner
Klaus-Dieter Nijakowski
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE102006048910A priority Critical patent/DE102006048910A1/en
Priority to DE502007004214T priority patent/DE502007004214D1/en
Priority to US12/308,289 priority patent/US9511756B2/en
Priority to PCT/EP2007/059851 priority patent/WO2008046703A1/en
Priority to AT07820304T priority patent/ATE471855T1/en
Priority to JP2009513712A priority patent/JP2009539676A/en
Priority to EP07820304A priority patent/EP2086807B1/en
Publication of DE102006048910A1 publication Critical patent/DE102006048910A1/en
Priority to JP2012023082A priority patent/JP5757893B2/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/402—Back-up
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Regulating Braking Force (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Safety Devices In Control Systems (AREA)
  • General Factory Administration (AREA)

Abstract

A method is described for protecting a parking assistance system from a failure of the service brake system. In order to prevent a collision of the vehicle with a surrounding object, the function of the service brake system is monitored and if an error is present, at least one other vehicle system, such as an automatic transmission or an automatic parking brake, is activated in order to brake the vehicle and/or interrupt the transmission of drive torque to the wheels.

Description

Stand der TechnikState of the art

Die Erfindung betrifft ein Verfahren zum Absichern eines Parkassistenzsystems gegenüber Fehlern der Betriebs-Bremsanlage gemäß dem Oberbegriff des Patentanspruchs 1, sowie ein Parkassistenzsystem gemäß dem Oberbegriff des Patentanspruchs 7.The The invention relates to a method for securing a parking assistance system across from Errors of the service brake system according to the preamble of the claim 1, as well as a parking assistance system according to the preamble of the claim 7th

Parkassistenzsysteme unterstützen den Fahrer eines Fahrzeugs beim Rangieren, insbesondere während eines Parkvorgangs. Dabei wird die Umgebung des Fahrzeugs mittels Sensoren abgetastet und das Fahrzeug automatisch abgebremst, wenn es sich einem anderen Objekt, wie z.B. einem parkenden Fahrzeug, zu stark nähert. Dadurch kann ein Auffahren auf das andere Objekt und eine Beschädigung des eigenen Fahrzeugs verhindert werden.Park assistance systems support the driver of a vehicle when maneuvering, especially during a Parking operation. The environment of the vehicle is detected by sensors scanned and the vehicle braked automatically when it is another object, e.g. a parked vehicle, too strong approaches. This may cause a collision with the other object and damage the own vehicle can be prevented.

Bekannte Parkassistenzsysteme umfassen üblicherweise ein Steuergerät mit einem Algorithmus, Ultraschall-Sensoren zum Abtasten der Umgebung des Fahrzeugs und einen Aktuator der Bremsanlage, wie z.B. ein Hydroaggregat. Sobald das Fahrzeug einen Mindestabstand unterschritten hat, wird der Aktuator vom Steuergerät automatisch angesteuert und das Fahrzeug automatisch abgebremst.Known Parking assistance systems usually include a control unit with an algorithm, ultrasonic sensors to sense the environment the vehicle and an actuator of the brake system, such. a hydraulic unit. Once the vehicle has fallen below a minimum distance is the actuator from the controller automatically controlled and the vehicle braked automatically.

Wenn nun bei einem Einparkvorgang die Bremsanlage ausfällt – beispielsweise wegen eines Fehlers am Bremsaktuator oder Bremsen-Steuergerät – wird das Fahrzeug nicht mehr automatisch abgebremst, so dass es zu einer Kollision mit einem anderen Objekt kommen kann.If now during a parking the brake system fails - for example because of a fault on the brake actuator or brake control unit - is the Vehicle no longer braked automatically, making it to a Collision with another object can occur.

Offenbarung der ErfindungDisclosure of the invention

Es ist daher die Aufgabe der vorliegenden Erfindung, ein Bremsassistenz-System gegenüber einem Ausfall der Betriebs-Bremsanlage abzusichern.It Therefore, the object of the present invention is a brake assist system opposite one Failure of the operating brake system to be secured.

Gelöst wird diese Aufgabe gemäß der Erfindung durch die im Patentanspruch 1 sowie in Patentanspruch 7 angegebenen Merkmale. Weitere Ausgestaltungen der Erfindung sind Gegenstand von Unteransprüchen.Is solved this task according to the invention by the specified in claim 1 and in claim 7 Characteristics. Further embodiments of the invention are the subject of dependent claims.

Ein wesentlicher Aspekt der Erfindung besteht darin, die Funktion der Betriebs-Bremsanlage zu überwachen und, wenn ein Fehler festgestellt wird, das Fahrzeug mittels einer anderen Bremsvorrichtung zu bremsen und/oder die Übertragung der Antriebskraft des Motors auf die Räder zu unterbrechen. Dadurch kann eine Kollision mit umgebenden Objekten wirksam verhindert werden.One An essential aspect of the invention is the function of Monitor operating brake system and, if an error is detected, the vehicle by means of a brake other braking device and / or transmission To interrupt driving force of the engine on wheels. Thereby a collision with surrounding objects can be effectively prevented.

Gemäß einer ersten Ausführungsform der Erfindung wird anstelle der Betriebs-Bremsanlage eine automatische Parkbremse genutzt, um das Fahrzeug abzubremsen. Hierzu wird der Aktuator der automatischen Parkbremse, wie z.B. ein so genannter „Cable puller" oder ein am Bremssattel befindlicher Elektromotor, angesteuert, um das Fahrzeug zu bremsen. Der automatische Bremseingriff kann entweder vom Steuergerät der Betriebs-Bremsanlage – sofern dieses funktioniert – oder von einem beliebigen anderen Steuergerät durchgeführt werden. Die Funktion des Bremsanlagen-Steuergeräts wird vorzugsweise von einem anderen Steuergerät überwacht, das in den Fahrbetrieb eingreift, wenn ersteres einen Fehler hat.According to one first embodiment The invention is an automatic parking brake instead of the service brake system used to decelerate the vehicle. For this purpose, the actuator of the automatic Parking brake, such as a so-called "cable puller" or one on the caliper located electric motor, driven to brake the vehicle. The automatic brake intervention can either by the control unit of the service brake system - if this works - or be performed by any other controller. The function of the Brake control module is preferably monitored by another control unit, which is in the driving mode engages if the former has an error.

Gemäß einer zweiten Ausführungsform der Erfindung wird ein Automatikgetriebe mit einer automatischen Getriebeposition-Wählvorrichtung genutzt, um das Fahrzeug abzubremsen. In diesem Fall wird die Getriebeposition „P" des Automatikgetriebes eingelegt, um das Fahrzeug anzuhalten. Solange das Steuergerät der Betriebs-Bremsanlage funktionsfähig ist, sendet es die Stellanforderung selbst an das Getriebe-Steuergerät. Bei Ausfall des Bremsanlagen-Steuergeräts erzeugt vorzugsweise ein anderes Steuergerät, in diesem Fall z.B. das Getriebe-Steuergerät, die Stellanforderung für die Getriebeposition-Wählvorrichtung. Das Umschalten in die Parkstellung „P" erfolgt vorzugsweise nur bei Geschwindigkeiten, die kleiner sind als eine vorgegebene Maximalgeschwindigkeit.According to one second embodiment The invention is an automatic transmission with an automatic Gear position selector used to decelerate the vehicle. In this case, the transmission position "P" of the automatic transmission is engaged, to stop the vehicle. As long as the control unit of the service brake system functioning is, it sends the parking request itself to the transmission control unit. In case of failure of the brake system control unit preferably generates another control device, in this case e.g. the Transmission control unit, the parking request for the Gear position selector. Switching to the parking position "P" is preferably only at speeds, which are smaller than a predetermined maximum speed.

Gemäß einer dritten Ausführungsform der Erfindung wird das Automatikgetriebe dazu genutzt, die Kraftübertragung vom Fahrzeugmotor zu den Rädern zu unterbrechen. Bei einem Fehler der Betriebs-Bremsanlage wird die Getriebeposition-Wählvorrichtung angesteuert und der Leerlauf bzw. die neutrale Getriebeposition „N" eingelegt. Sofern das Bremsanlagen-Steuergerät funktionsfähig ist, überträgt es z.B. ein Steuersignal an das Getriebe-Steuergerät, das wiederum die Getriebeposition-Wählvorrichtung ansteuert. Bei Ausfall des Bremsanlagen-Steuergeräts wird vorzugsweise ein anderes Steuergerät, insbesondere das Getriebe-Steuergerät selbsttätig aktiv.According to one third embodiment the invention, the automatic transmission is used to power transmission from the vehicle engine to the wheels to interrupt. In case of failure of the operating brake system will the gear position selector and the neutral or neutral gear position "N" is engaged the brake system control unit functioning is it transmits e.g. a control signal to the transmission control unit, which in turn is the transmission position selector controls. In case of failure of the brake system control unit is preferably another control device, in particular the transmission control unit automatically active.

Die Funktion des Bremsanlagen-Steuergeräts wird vorzugsweise von wenigstens einem anderen Steuergerät ständig überwacht. Wenn ersteres ausfällt, wird das andere Steuergerät vorzugsweise selbsttätig aktiv und greift in den Fahrbetrieb ein. Die Steuergeräte stehen z.B. über einen Bus (z.B. CAN) miteinander in Verbindung.The Function of the brake system control unit is preferably at least another controller constantly monitored. If the former fails, becomes the other controller preferably automatically active and intervenes in the driving operation. The controllers are stopped e.g. above a bus (e.g., CAN) communicate with each other.

Die drei vorstehend genannten Möglichkeiten zur Absicherung eines Parkassistenzsystems können auch in Kombination ausgeführt werden. So ist es beispielsweise möglich, sowohl die Übertragung der Antriebskraft auf die Räder zu unterbrechen als auch eine Bremsvorrichtung zu aktivieren, um in den Fahrbetrieb einzugreifen.The three aforementioned possibilities for securing a parking assistance system can also be carried out in combination. So it is possible, for example, both the Übertra To interrupt the driving force on the wheels and to activate a braking device to intervene in the driving operation.

In Bezug auf die Bremsanlage wird vorzugsweise die Funktion des Hydroaggregats, insbesondere die Funktion der Förderpumpe(n), der Ventile und ggf. anderer Komponenten, als auch die Funktion des Bremsen-Steuergeräts überwacht.In With respect to the brake system is preferably the function of the hydraulic unit, in particular the function of the feed pump (s), the valves and possibly other components, as well as the function of Brake control unit monitors.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

Die Erfindung wird nachstehend anhand der beigefügten Zeichnungen beispielhaft näher erläutert. Es zeigen:The Invention will be exemplified below with reference to the accompanying drawings explained in more detail. It demonstrate:

1 eine schematische Blockdarstellung eines Parkassistenzsystems, das gegen den Ausfall der Bremsanlage abgesichert ist; und 1 a schematic block diagram of a parking assistance system, which is secured against the failure of the brake system; and

2 ein Flussdiagramm zur Darstellung der wesentlichen Verfahrensschritte eines Verfahrens zum Absichern eines automatisierten Parkvorgangs bei einem Fehler in der Bremsanlage. 2 a flowchart illustrating the main steps of a method for securing an automated parking operation in case of an error in the brake system.

Ausführungsformen der ErfindungEmbodiments of the invention

1 zeigt eine schematische Blockdarstellung eines Parkassistenzsystems, das insgesamt mit dem Bezugszeichen 1 bezeichnet ist. Das Parkassistenzsystem umfasst im Wesentlichen ein Bremsen-Steuergerät 2 mit einem Parkassistenz-Algorithmus 11, ein Hydroaggregat 4 zum Modulieren der an den Radbremsen 5 wirkenden Bremskräfte, sowie die eigentlichen Radbremsen 5. Eine Umfeldsensorik 3, z.B. basierend auf Ultraschall, dient zum Abtasten der Umgebung. 1 shows a schematic block diagram of a parking assistance system, the whole with the reference numeral 1 is designated. The parking assistance system essentially comprises a brake control unit 2 with a parking assist algorithm 11 , a hydraulic unit 4 for modulating the at the wheel brakes 5 acting braking forces, as well as the actual wheel brakes 5 , An environment sensor 3 , eg based on ultrasound, is used to scan the environment.

Bei einem Parkvorgang, bei dem das Parkassistenzsystem aktiv ist, überwacht der Parkassistenz-Algorithmus 11 die Umgebung des Fahrzeugs in Bezug auf umliegende Objekte und greift mittels der Bremsanlage 4, 5 automatisch in den Fahrbetrieb ein, wenn sich das Fahrzeug einem anderen Objekt zu stark nähert. Der Parkassistenz-Algorithmus 11 ist hier im Bremsen-Steuergerät 2 vorgesehen, kann aber grundsätzlich auch in jedem anderen Steuergerät integriert sein.In a parking operation in which the parking assist system is active, the parking assist algorithm monitors 11 the environment of the vehicle with respect to surrounding objects and engages by means of the brake system 4 . 5 automatically engage in driving when the vehicle is too close to another object. The parking assistance algorithm 11 is here in the brake control unit 2 provided, but may in principle be integrated into any other control device.

Um für den Fall einer defekten Betriebs-Bremsanlage eine Kollision zu verhindern, ist das Parkassistenzsystem mit wenigstens einem anderen Fahrzeugsystem gekoppelt, mittels dessen das Fahrzeug entweder abgebremst oder die Übertragung der Antriebskraft auf die Rädern unterbrochen werden kann. Im vorliegenden Ausführungsbeispiel ist das Parkbrems-System 1 mit einem automatischen Getriebe 6, 7 und einer automatischen Parkbremse 8, 9 (APB) verbunden. Die Arbeitsweise dieses Gesamtsystems wird im Folgenden anhand von 2 näher erläutert.In order to prevent a collision in the event of a defective service brake system, the parking assistance system is coupled to at least one other vehicle system, by means of which the vehicle can either be braked or the transmission of the driving force to the wheels can be interrupted. In the present embodiment, the parking brake system 1 with an automatic transmission 6 . 7 and an automatic parking brake 8th . 9 (APB) connected. The operation of this overall system is described below with reference to 2 explained in more detail.

2 zeigt ein Flussdiagram eines Verfahrens zum Absichern eines Parkassistenzsystems 1 gegenüber einem Ausfall der Bremsanlage 2, 4, 5. Dabei wird in einem ersten Schritt 15 zunächst ermittelt, ob die Parkassistenz-Funktion aktiv ist. Falls ja (J), überwacht das Bremsen-Steuergerät 2 das Hydroaggregat 4 in Bezug auf Fehler (Schritt 16). Gleichzeitig erfolgt eine Überwachung des Bremsen-Steuergeräts 2 durch das Getriebe-Steuergerät 6 oder das Steuergerät 8 der automatischen Parkbremse (Schritt 17). Bei Vorliegen eines Fehlers am Hydroaggregat (Fall J in Schritt 16) sendet das Bremsen-Steuergerät 2 in Schritt 18 eine Stellanforderung an das Getriebe-Steuergerät 6 und/oder das APB-Steuergerät 8. Falls das Getriebe-Steuergerät 6 angesprochen wird, erzeugt es in Schritt 20 eine Anforderung an eine Getriebe-Wählvorrichtung 7, die Parkposition „P" oder die neutrale Position (Leerlauf) „N" einzustellen. Falls das APB-Steuergerät 8 angesprochen wird, erzeugt es ein Ansteuersignal für die Getriebe-Wählvorrichtung 7, die Parkposition „P" einzustellen und/oder ein Steuersignal für den Aktuator 9 der Parkbremse, um die Parkbremse anzuziehen und das Fahrzeug zu bremsen. 2 shows a flowchart of a method for securing a parking assistance system 1 against a failure of the brake system 2 . 4 . 5 , This will be done in a first step 15 First determines whether the parking assist function is active. If yes (J), the brake controller monitors 2 the hydraulic unit 4 in terms of errors (step 16 ). At the same time there is a monitoring of the brake control unit 2 through the transmission control unit 6 or the controller 8th the automatic parking brake (step 17 ). If there is a fault in the hydraulic unit (case J in step 16 ) sends the brake control unit 2 in step 18 an adjustment request to the transmission control unit 6 and / or the APB controller 8th , If the transmission control unit 6 is raised, it generates in step 20 a request to a transmission selector 7 to set the park position "P" or the neutral position (idle) "N". If the APB control unit 8th is addressed, it generates a drive signal for the transmission selector 7 to set the parking position "P" and / or a control signal for the actuator 9 the parking brake to apply the parking brake and brake the vehicle.

Wenn in Schritt 17 ein Fehler am Steuergerät 2 der Bremsanlage erkannt wird (Fall J), greift das Getriebe-Steuergerät 6 oder das Steuergerät 8 der automatischen Parkbremse selbst in den Fahrbetrieb ein. Das jeweilige Steuergerät 6 bzw. 8 erzeugt in diesem Fall in Schritt 19 einen Stellbefehl an die Getriebe-Wählvorrichtung 7 und/oder den Aktuator 9 der automatischen Parkbremse, um das Fahrzeug zu bremsen oder den Antriebsstrang zu unterbrechen. Eine mögliche Kollision kann somit wirksam verhindert werden.When in step 17 an error on the control unit 2 the brake system is detected (case J), engages the transmission control unit 6 or the controller 8th the automatic parking brake itself in the driving operation. The respective control unit 6 respectively. 8th generated in this case in step 19 a control command to the transmission selector 7 and / or the actuator 9 the automatic parking brake to brake the vehicle or to interrupt the drive train. A possible collision can thus be effectively prevented.

Der Fahrer kann zusätzlich beispielsweise optisch oder akustisch über den Fehlerzustand informiert werden. Damit endet das Verfahren.Of the Driver can additionally For example, visually or acoustically informed about the error condition become. This ends the procedure.

Claims (8)

Verfahren zum Absichern eines Parkassistenzsystem gegenüber einem Fehler der Betriebs-Bremsanlage (2, 4, 5), dadurch gekennzeichnet, dass die Funktion der Betriebs-Bremsanlage (2, 4, 5) überwacht und bei Vorliegen eines Fehlers ein Aktuator (9) eines anderen Fahrzeugsystems (6,7; 8,9) angesteuert wird, um das Fahrzeug zu bremsen und/oder die Übertragung von Antriebskraft auf die Räder des Fahrzeugs zu unterbrechen.Method for safeguarding a parking assistance system against a fault in the service brake system ( 2 . 4 . 5 ), characterized in that the function of the service brake system ( 2 . 4 . 5 ) and, in the event of a fault, an actuator ( 9 ) of another vehicle system ( 6 . 7 ; 8th . 9 ) is controlled to brake the vehicle and / or to interrupt the transmission of driving force to the wheels of the vehicle. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass bei einem Fahrzeug mit einer automatisierten Parkbremse (8, 9) ein Aktuator (9) der Parkbremse angesteuert wird, um diese anzuziehen.A method according to claim 1, characterized in that in a vehicle with an automated parking brake ( 8th . 9 ) an actuator ( 9 ) the parking brake is controlled to attract them. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass bei einem Fahrzeug mit Automatik-Getriebe eine Getriebeposition-Wählvorrichtung (7) angesteuert wird, um den Parkgang „P" einzulegen.A method according to claim 1, characterized in that in a vehicle with automatic transmission, a gear position selector ( 7 ) is controlled to insert the parking gear "P". Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass der Parkgang „P" nur eingelegt wird, wenn die Fahrgeschwindigkeit kleiner als eine vorgegebene Maximalgeschwindigkeit (v0) ist.A method according to claim 3, characterized in that the parking gear "P" is engaged only when the vehicle speed is less than a predetermined maximum speed (v 0 ). Verfahren nach Anspruch 1 oder 3, dadurch gekennzeichnet, dass bei einem Fahrzeug mit Automatik-Getriebe (6, 7) eine Getriebeposition-Wählvorrichtung (7) angesteuert wird, um den Leerlauf „N" einzulegen und somit den Antriebsstrang zu unterbrechen.A method according to claim 1 or 3, characterized in that in a vehicle with automatic transmission ( 6 . 7 ) a gear position selector ( 7 ) is driven to engage the neutral "N" and thus interrupt the drive train. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Funktion des Steuergeräts (2) der Betriebs-Bremsanlage (2, 4, 5) überwacht wird.Method according to one of the preceding claims, characterized in that the function of the control device ( 2 ) of the service brake system ( 2 . 4 . 5 ) is monitored. Parkassistenzsystem (1), umfassend ein Steuergerät (2) mit einem Parkassistenz-Algorithmus (11), eine Sensorik (3) zum Abtasten der Umgebung des Fahrzeugs und einen Aktuator (4) der Betriebs-Bremsanlage, dadurch gekennzeichnet, dass das Parkassistenzsystem (1) Mittel zum Durchführen eines der vorstehend beschriebenen Verfahren umfasst.Parking assistance system ( 1 ), comprising a control unit ( 2 ) with a parking assist algorithm ( 11 ), a sensor system ( 3 ) for sensing the environment of the vehicle and an actuator ( 4 ) of the service brake system, characterized in that the parking assistance system ( 1 ) Comprises means for performing one of the methods described above. Steuergerät, enthaltend Mittel zum Durchführen eines der vorstehend beschriebenen Verfahren.Controller, containing means for performing one of the methods described above.
DE102006048910A 2006-10-17 2006-10-17 Fail-safe parking assistance system Withdrawn DE102006048910A1 (en)

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DE102006048910A DE102006048910A1 (en) 2006-10-17 2006-10-17 Fail-safe parking assistance system
DE502007004214T DE502007004214D1 (en) 2006-10-17 2007-09-18 FAILSAFE PARKASSISTENZ PROCESS AND PARKASSISTENZSYSTEM AND CONTROLLER
US12/308,289 US9511756B2 (en) 2006-10-17 2007-09-18 Failsafe parking assistance system
PCT/EP2007/059851 WO2008046703A1 (en) 2006-10-17 2007-09-18 Failsafe parking aid system
AT07820304T ATE471855T1 (en) 2006-10-17 2007-09-18 FAIL-SAFE PARKING ASSISTANCE METHOD AND PARKING ASSISTANCE SYSTEM AND CONTROL UNIT
JP2009513712A JP2009539676A (en) 2006-10-17 2007-09-18 Method and system for protecting parking assistance system
EP07820304A EP2086807B1 (en) 2006-10-17 2007-09-18 Failsafe parking aid method and system and control unit
JP2012023082A JP5757893B2 (en) 2006-10-17 2012-02-06 Method and system for protecting parking assistance system

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